Abstract
The developments of the robots are usually depending on their own original specifications. Therefore, the reuse of the robot technologies and/or components is difficult, and much time and costs are needed in their development processes. The National Institute of Advanced Industrial Science and Technology (AIST) developed RT-Middleware to solve the problems mentioned above by modularizing and defining a framework of RT-Component. The development efficiency improves by using RT-Middleware. However, there is a problem that there are few simulators which correspond to RT-Middleware. Therefore, we aim to simulate the robot which adopts the RT-Middleware using an existing simulator. By this, system developers become possible to simulate their own system easily.
